Diff: slcan.h

Revision:

0:f2565808eea5

Child:

2:1327e61cc56b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/slcan.h	Sat Jun 04 04:40:58 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef SLCAN_H_INCLUDED
+#define SLCAN_H_INCLUDED
+
+#include <mbed.h>
+#include <USBSerial.h>
+
+class SLCANBase {
+public:
+    bool update();
+
+protected:
+    SLCANBase();
+    virtual ~SLCANBase();
+    
+    // To be implemented by subclasses
+    virtual bool setBaudrate(int baudrate) = 0;
+    virtual bool setMode(CAN::Mode mode) = 0;
+    virtual bool transmitMessage(CANMessage& msg) = 0;
+    
+    virtual bool processCommands() = 0;
+    virtual bool processCANMessages() = 0;
+    virtual bool flush() = 0;
+    
+    // Shared amongst subclasses
+    static size_t formatCANMessage(const CANMessage& msg, char* buf, size_t max_len);
+    static size_t formattedCANMessageLength(const CANMessage& msg);
+    bool execCommand(const char* command);
+    
+private:
+    bool execConfigCommand(const char* command);
+    bool execTransmitCommand(const char* command);
+};
+
+class USBSLCAN : public SLCANBase {
+public:
+    USBSLCAN(USBSerial& stream, CAN& can);
+protected:
+    virtual bool setBaudrate(int baudrate);
+    virtual bool setMode(CAN::Mode mode);
+    virtual bool transmitMessage(CANMessage& msg);
+    
+    virtual bool processCommands();
+    virtual bool processCANMessages();
+    virtual bool flush();
+    
+    bool getNextCANMessage(CANMessage& msg);
+private:
+    USBSerial& stream;
+    CAN& can;
+    CANMessage queuedMessage;
+    bool messageQueued;
+    bool commandQueued;
+    bool commandOverflow;
+    char inputCommandBuffer[32];
+    char outputPacketBuffer[64];
+    size_t inputCommandLen;
+    size_t outputPacketLen;
+};
+
+class SerialSLCAN : public SLCANBase {
+public:
+    SerialSLCAN(Serial& stream, CAN& can);
+protected:
+    virtual bool setBaudrate(int baudrate);
+    virtual bool setMode(CAN::Mode mode);
+    virtual bool transmitMessage(CANMessage& msg);
+    
+    virtual bool processCommands();
+    virtual bool processCANMessages();
+    virtual bool flush();
+    
+    bool getNextCANMessage(CANMessage& msg);
+private:
+    Serial& stream;
+    CAN& can;
+    bool commandQueued;
+    bool commandOverflow;
+    char inputCommandBuffer[32];
+    size_t inputCommandLen;
+};
+
+#endif
\ No newline at end of file